CN105667721A - Ultralow-frequency vibration isolation float for ocean detector - Google Patents

Ultralow-frequency vibration isolation float for ocean detector Download PDF

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Publication number
CN105667721A
CN105667721A CN201610021414.1A CN201610021414A CN105667721A CN 105667721 A CN105667721 A CN 105667721A CN 201610021414 A CN201610021414 A CN 201610021414A CN 105667721 A CN105667721 A CN 105667721A
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CN
China
Prior art keywords
negative stiffness
stiffness
casing
vibration isolation
ring
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Pending
Application number
CN201610021414.1A
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Chinese (zh)
Inventor
盛美萍
谢步亮
杨彪
王冠华
吴晴晴
尤明涛
王雪
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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Priority to CN201610021414.1A priority Critical patent/CN105667721A/en
Publication of CN105667721A publication Critical patent/CN105667721A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00Buoys
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00Buoys
    • B63B22/18Buoys having means to control attitude or position, e.g. reaction surfaces or tether
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00Buoys
    • B63B2022/006Buoys specially adapted for measuring or watch purposes

Abstract

The invention discloses an ultralow-frequency vibration isolation float for an ocean detector. The ultralow-frequency vibration isolation float for the ocean detector comprises a posture retainer and a vibration isolation platform. The posture retainer is composed of a spherical outer shell, a middle ring, an inner shell, middle ring torquers and inner shell torquers. The vibration isolation platform is installed in the inner shell and composed of a guide base, a guide post, a positive stiffness spring, a positive stiffness adjusting nut, a bearing platform, hinges, negative stiffness transfer rods, negative stiffness springs, negative stiffness adjusting nuts, negative stiffness spring guide seats and radial spherical plain bearings. According to the ultralow-frequency vibration isolation float for the ocean detector, the positive stiffness spring is connected with negative stiffness spring mechanisms in parallel, so that the vibration isolation platform has the characteristics of high static stiffness and low dynamic stiffness, and both positive stiffness and negative stiffness are adjustable. The ultralow-frequency vibration isolation float for the ocean detector is suitable for an external excitation environment, especially an ultralow-frequency excitation environment, can provide multi-degree-of-freedom vibration isolation protection for the ocean detector and can achieve posture remaining.

Description

Ultralow frequency marine locator vibration isolation buoy
Technical field
The invention belongs to nonlinear isolation technical field, it is specifically related to a kind of ultralow frequency marine locator vibration isolation buoy.
Background technology
Now, exploitation ocean blue territory, expands survival and development space, has risen to the national strategy of coastal various countries of the world, and oceanic resources detection exploitation is very urgent. All kinds of marine locator is the favourable instrument that wisdom ocean is built, but the singularity due to Working environment, marine locator is often subject to disturbing from the vibratory impulse of ocean environment, and wherein low-frequency vibration shock problem is particularly serious. Need a kind of ultralow frequency nonlinear isolation device that can keep attitude voluntarily of design, for carrying various marine locator, take a firm foundation for China carries out ocean exploitation, it is to increase China's ocean competitive power.
Linear vibration isolation technique is widely used tradition vibration isolation technique, but its low frequency vibration isolation effect depends on vibrating isolation system natural frequency, reducing system frequency and can obtain good low frequency vibration isolation performance, but the static displacement of system must increase, this needs to be avoided in the finite space. In view of the deficiency of linear vibration isolation technique, carry out extensive research for low frequency nonlinear isolation technology both at home and abroad, mainly comprise passive nonlinear isolation technology, active Vibration Isolation, semi-active vibration-isolating technology etc. Initiatively vibration isolation and semi-active vibration-isolating are more satisfactory to the vibration isolating effect of low-frequency excitation, but cost height, mechanism is complicated and needs outside energy. Passive nonlinear isolation technical costs is low by contrast, can realize superlow frequency vibration isolating under the prerequisite not needing outside energy to input, and is free gas spring technology and positive Negative stiffness spring parallel technology at present in application.
Pneumatic cushioning has the advantage that dynamic stiffness is low, static displacement is little, but its isolation frequency is difficult to be reduced to less than 2 hertz, does not have vibration isolation effect for the excitation of lower ultralow frequency. Production unit and the scientific instrument of modern high degree of accuracy are more and more higher to the requirement of vibration, impulsive control, the new technology that the control adopting the vibration isolator containing positive stiffness and negative stiffness elastic element in parallel and snubber to carry out vibrating, impact grows up for meeting this requirement exactly. Though positive Negative stiffness spring parallel technology is studied for many years, but application is not extensive, mainly concentrates in the vibrating isolation system of such as optics platform, some high precision test equipment.Compared to land all kinds of platforms, ocean environment is more severe, and the fluctuation of low frequency seawater level exists with vertical fluctuation simultaneously, and mechanical shock, fluctuating range are bigger. Seawater movement directly affects the job stability of marine locator; in order to ensure the detected with high accuracy ability of marine locator; vibrating isolation system needs to provide better vibration isolation to protect marine locator in attitude maintenance, vibration isolation stroke, resistance to impact shock etc., and existing platform vibration isolation achievement in research is no longer applicable.
In sum, the application of existing vibration isolation technique on marine locator vibrating isolation system has following deficiency:
1, the low frequency vibration isolation effect of linear vibration isolation technique depends on vibrating isolation system natural frequency, but linear system is while reducing system frequency, and the static displacement of system must increase, and this is unfavorable for the vibration isolation stroke design of marine locator vibrating isolation system.
2, initiatively vibration isolation and semi-active vibration-isolating are more satisfactory to the vibration isolating effect of low-frequency excitation, but cost height, mechanism is complicated and needs outside energy.
3, pneumatic cushioning has the advantage that dynamic stiffness is low, static displacement is little, but its isolation frequency is difficult to be reduced to below 2Hz, does not have vibration isolation effect for the excitation of lower ultralow frequency.
4, compared to land platform, the low-frequency fluctuation of seawater level, vertical direction exists simultaneously, and mechanical shock, fluctuating range are bigger, marine locator vibrating isolation system needs good attitude hold facility and high-strength impact-resistant ability, all need to ensure bigger vibration isolation stroke in horizontal and vertical direction, the positive Negative stiffness spring parallel technology vibration isolation achievement in research on existing workplatform is no longer applicable.
Summary of the invention
It is an object of the invention to overcome defect and the deficiency of prior art; a kind of ultralow frequency marine locator vibration isolation buoy is proposed; this vibration-isolated floating mark mechanism structure is simple; outside energy is not needed to input; there is non-linear rigidity characteristic and superlow frequency vibration isolating ability; and vibration isolation stroke is big, there is attitude simultaneously and keep function, it is possible to for marine locator carries out vibration isolation protection under the environment of the windy many waves in ocean.
In order to realize above-mentioned purpose, the present invention adopts following technical scheme:
Ultralow frequency marine locator vibration isolation buoy comprises attitude retainer and vibrating isolation system.
Described attitude retainer is made up of shell, inner casing, middle ring, middle ring torquer, inner casing torquer, shell is spherical shell structure, inner casing is spherical shell or hemispherical Shell structure, middle ring is a ring structure, middle ring is connected with shell by a centering ring torquer, freely can rotating around middle ring torquer, inner casing is installed in middle ring by one pair of inner casing torquer, freely can rotate around inner casing torquer.
Described vibrating isolation system is installed on inner housing inner, is made up of positive rigid spring mechanism, carrying platform, loose-leaf and Duo Zu Negative stiffness spring mechanism.
Described positive rigid spring mechanism is made up of the seat that leads, guidepost, positive rigid spring and positive stiffness tuning nut. Guiding seat is the base that there is aperture at middle part, is fixed on inner shell bottom center; Guidepost is long rod structure, it is possible to be free to slide along guiding bore footpath, for the vibration damping of vibrating isolation system vertical direction play the guiding role; Positive rigid spring is set in outside guidepost, and lower surface is positioned in the groove of guiding seat, and top is mounted in the positive stiffness tuning nut on guidepost.
Described carrying platform is pedestal structure, is connected with guidepost directly over guidepost, and edge is provided with loose-leaf.
Described Duo Zu Negative stiffness spring mechanism is evenly distributed in same plane, and each group is made up of lead seat, Negative stiffness spring, negative stiffness setting nut, centripetal joint shaft and transmission lever of negative stiffness. Negative stiffness guiding seat is fixedly mounted on inside inner casing, and it has guide path; Negative stiffness spring is set in outside negative stiffness guiding seat, and one end is connected with transmission lever by plain radial bearing; Plain radial bearing can be free to slide along the lead guide path of seat of negative stiffness; Transmission lever and plain radial bearing junction are also provided with negative stiffness setting nut, and for regulating the draught of Negative stiffness spring, the transmission lever the other end is articulated with on carrying platform by loose-leaf.
Further preferred version, described ultralow frequency marine locator vibration isolation buoy, it is characterized in that: a centering ring torquer symmetry is arranged on the two ends of internal diameter of outer cover, one pair of inner casing torquer symmetry is arranged on the two ends of inner casing external diameter, and the inner casing external diameter residing for inner casing torquer and the internal diameter of outer cover residing for middle ring torquer are coplanar and orthogonal.
Further preferred version, described ultralow frequency marine locator vibration isolation buoy, it is characterised in that: it is close to positive stiffness tuning nut and negative stiffness setting nut, retainer nut is installed.
Useful effect
Compared with original technology, the present invention has the following advantages:
1, the present invention utilizes the principle of two axle stabilizers, it is achieved that the attitude of marine locator vibrating isolation system platform keeps function, and detector is steadily worked in the complicated environment of the windy many waves in ocean.
2, the present invention is respectively equipped with positive stiffness and negative stiffness spring device on mutually perpendicular two directions, adopts the mode of positive Negative stiffness spring parallel connection on the one hand, has high Static stiffness, low static rigidity anti-vibration performance, it is achieved that superlow frequency vibration isolating effect; On the other hand, in ocean, wave all has fluctuation along level, vertical direction, and the present invention can provide the vibration isolation of multiple degree of freedom to protect to marine locator.
3, the positive stiffness tuning nut of positive rigid spring mechanism and just rigid spring cooperation, it is achieved positive rigidity is adjustable. The negative stiffness setting nut of Negative stiffness spring mechanism and Negative stiffness spring coordinate, it is achieved negative stiffness is adjustable. The positive negative stiffness of the present invention all has controllability, it is possible to makes vibration isolation stroke optimization, adds the practicality of vibrating isolation system.
4, the present invention is passive vibrating isolation system, it is not necessary to extraneous input energy, it may also be useful to cost is low.
5, the present invention can provide watertight protection for marine locator, extends the work-ing life of electronic machine, reduces hydrospace detection cost.
Accompanying drawing explanation
Fig. 1 is ultralow frequency marine locator vibration-isolated floating target viewgraph of cross-section;
Fig. 2 is the vibration-isolated floating target viewgraph of cross-section that line A-A intercepts along Fig. 1.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Consulting shown in Fig. 1 and Fig. 2, ultralow frequency marine locator vibration isolation buoy is made up of vibrating isolation system and attitude retainer.
It is inner that vibrating isolation system is installed on inner casing 13, is made up of guiding seat 1, guidepost 2, positive rigid spring 3, positive stiffness tuning nut 4, retainer nut 5, loose-leaf 6, carrying platform 7, negative stiffness guiding seat 8, Negative stiffness spring 9, negative stiffness setting nut 10, plain radial bearing 11 and transmission lever 12. Wherein, guiding seat 1, guidepost 2, positive rigid spring 3, positive stiffness tuning nut 4 and retainer nut 5 constitute positive rigid spring mechanism; Negative stiffness guiding seat 8, Negative stiffness spring 9, negative stiffness setting nut 10, plain radial bearing 11 and transmission lever 12 constitute Negative stiffness spring mechanism.
Attitude retainer is made up of inner casing 13, shell 14, middle ring 15, middle ring torquer 16 and inner casing torquer 17, inner casing 13 is spherical shell or hemispherical Shell structure (being hemispherical Shell structure in the present embodiment), shell 14 is spherical shell structure, middle ring 15 is a ring structure, one centering ring torquer 16 symmetry is arranged on the two ends of shell 14 1 internal diameters, one pair of inner casing torquer 17 symmetry is arranged on the two ends of inner casing 13 1 external diameters, and the inner casing external diameter residing for inner casing torquer 17 and the internal diameter of outer cover residing for middle ring torquer 16 are coplanar and orthogonal; Middle ring 15 is connected with shell 14 by middle ring torquer 16, it is possible to freely rotate around middle ring torquer 16; Inner casing 13 is installed in middle ring 15 by inner casing torquer 17, freely can rotate around inner casing torquer 17, it may be achieved the maintenance of inner casing 13 attitude.
As depicted in figs. 1 and 2, in described positive rigid spring mechanism, guiding seat 1 has the disc-shaped foot in aperture for middle part, is fixed on and hits exactly bottom inner casing 13, and the present embodiment mesoporous is circular through hole.Guidepost 2 is long rod structure, it is possible to be free to slide along guiding seat 1 aperture, for the vibration damping of vibrating isolation system vertical direction play the guiding role. Positive rigid spring 3 is set in outside guidepost 2, and lower surface is positioned in the groove of guiding seat 1, and top is mounted in the positive stiffness tuning nut 4 on guidepost 2, it is possible to realize positive stiffness tuning function. Further preferred version, is close to positive stiffness tuning nut and installs retainer nut 5, assist positive stiffness tuning.
As shown in Figure 2, carrying platform 7 is pedestal structure, is positive hexagonal structure, is connected with guidepost 2 directly over guidepost 2 in the implementation case, and the carrying each edge center of platform 7 is all provided with loose-leaf 6.
As depicted in figs. 1 and 2, described Negative stiffness spring mechanism has many groups, is six groups in the present embodiment. The negative stiffness guiding seat 8 of each group is fixedly mounted on inside inner casing 13, and it has guide path. Negative stiffness spring 9 is set in outside guiding seat, and one end is connected with transmission lever 12 by plain radial bearing 11. Plain radial bearing 11 connects Negative stiffness spring 9 and transmission lever 12, and can be free to slide along the lead guide path of seat 8 of negative stiffness. Transmission lever 12 and centripetal joint shaft junction are also provided with negative stiffness setting nut 10, and for regulating the draught of Negative stiffness spring 9, transmission lever 12 the other end is hinged with carrying platform 7 by loose-leaf 6. Regulate negative stiffness setting nut 10 can realize negative stiffness adjustable. Six groups of Negative stiffness spring mechanisms are evenly distributed in same plane, and one end is arranged on inner casing 13, and the other end is connected with carrying platform 7 by loose-leaf 6.
When being subject to dynamic excitation, relative movement between carrying platform 7 and inner casing 13, positive rigid spring 3 draught changes, Negative stiffness spring 9 draught also changes simultaneously, between inner casing 13 and carrying platform 7, power displacement curve has the non-linear character of high Static stiffness, low dynamic stiffness, and dynamic stiffness can be low to moderate zero in theory. Generally, square being directly proportional to rigidity of frequency, when dynamic stiffness is down to very low, isolation frequency is also very low, thus realizes superlow frequency vibration isolating. Ocean environment low frequency problem is remarkable, superlow frequency vibration isolating can be provided to protect for marine locator by the present invention.
When vibrating isolation system is in zero dynamic stiffness place, low frequency vibration isolation effect is best. When the quality of vibration isolation object changes, only regulate positive rigid spring mechanism that vibrating isolation system can be made to return to zero stiffness state according to prior art, but when vibration isolation object quality increases, only regulate positive rigid spring mechanism that vibration isolation stroke can be made to reduce; When vibration isolation object quality reduces, only regulate positive rigid spring mechanism can make the easy unstability of vibrating isolation system. And positive stiffness and negative stiffness spring device of the present invention can regulate simultaneously, when vibration isolation object quality increases, increased the initial compression amount of positive stiffness and negative stiffness spring by setting nut simultaneously, or when vibration isolation object quality reduces, reduced the initial compression amount of positive stiffness and negative stiffness spring by setting nut simultaneously, even if vibration isolation object quality like this changes, also can ensure that vibration isolation stroke is constant, meet the vibration isolation demand of ocean environment multiple degree of freedom excitation.

Claims (3)

1. ultralow frequency marine locator vibration isolation buoy, it is characterised in that: comprise attitude retainer and vibrating isolation system;
Described attitude retainer is made up of shell, inner casing, middle ring, middle ring torquer, inner casing torquer, shell is spherical shell structure, inner casing is spherical shell or hemispherical Shell structure, middle ring is a ring structure, middle ring is connected with shell by a centering ring torquer, freely can rotating around middle ring torquer, inner casing is installed in middle ring by one pair of inner casing torquer, freely can rotate around inner casing torquer;
Described vibrating isolation system is installed on inner housing inner, is made up of positive rigid spring mechanism, carrying platform, loose-leaf and Duo Zu Negative stiffness spring mechanism;
Described positive rigid spring mechanism is made up of the seat that leads, guidepost, positive rigid spring and positive stiffness tuning nut; Guiding seat is the base that there is aperture at middle part, is fixed on inner shell bottom center; Guidepost is long rod structure, it is possible to be free to slide along guiding bore footpath, for the vibration damping of vibrating isolation system vertical direction play the guiding role; Positive rigid spring is set in outside guidepost, and lower surface is positioned in the groove of guiding seat, and top is mounted in the positive stiffness tuning nut on guidepost;
Described carrying platform is pedestal structure, is connected with guidepost directly over guidepost, and edge is provided with loose-leaf;
Described Duo Zu Negative stiffness spring mechanism is evenly distributed in same plane, and each group is made up of lead seat, Negative stiffness spring, negative stiffness setting nut, centripetal joint shaft and transmission lever of negative stiffness; Negative stiffness guiding seat is fixedly mounted on inside inner casing, and it has guide path; Negative stiffness spring is set in outside negative stiffness guiding seat, and one end is connected with transmission lever by plain radial bearing; Plain radial bearing can be free to slide along the lead guide path of seat of negative stiffness; Transmission lever and plain radial bearing junction are also provided with negative stiffness setting nut, and for regulating the draught of Negative stiffness spring, the transmission lever the other end is articulated with on carrying platform by loose-leaf.
2. ultralow frequency marine locator vibration isolation buoy according to claim 1, it is characterized in that: a centering ring torquer symmetry is arranged on the two ends of internal diameter of outer cover, one pair of inner casing torquer symmetry is arranged on the two ends of inner casing external diameter, and the inner casing external diameter residing for inner casing torquer and the internal diameter of outer cover residing for middle ring torquer are coplanar and orthogonal.
3. ultralow frequency marine locator vibration isolation buoy according to claim 1, it is characterised in that: it is close to positive stiffness tuning nut and negative stiffness setting nut, retainer nut is installed.
CN201610021414.1A 2016-01-13 2016-01-13 Ultralow-frequency vibration isolation float for ocean detector Pending CN105667721A (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106240756A (en) * 2016-08-26 2016-12-21 常熟中德重机有限公司 A kind of shock resistance type combination type buoy
CN107804431A (en) * 2017-10-16 2018-03-16 西北工业大学 A kind of wind-force is anti-to topple over marine communication buoy
CN109305301A (en) * 2018-10-16 2019-02-05 广州榕创新能源科技有限公司 A kind of hydraulic engineering data acquisition buoyancy tank sealed fixing device
CN110139996A (en) * 2017-01-12 2019-08-16 Hrl实验室有限责任公司 Adjustable negative rigidity mechanism
CN110513432A (en) * 2019-09-03 2019-11-29 武汉理工大学 A kind of double nonlinear isolation devices
CN110989036A (en) * 2019-12-16 2020-04-10 国家海洋局北海海洋环境监测中心站 Marine meteorological observation equipment
CN111268034A (en) * 2020-02-12 2020-06-12 新昌县利安轴承有限公司 Buoy watertight part for ocean small-range spot check detection

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CN102619916A (en) * 2012-04-20 2012-08-01 吉林大学 Ultralow frequency vibration isolator based on parallel connection of positive stiffness spring and negative stiffness spring
CN202381623U (en) * 2011-11-17 2012-08-15 华中科技大学 Precision active damper
CN103791018A (en) * 2014-01-29 2014-05-14 安徽工程大学 Multi-dimensional vibration isolation platform and air springs thereof
CN105179587A (en) * 2015-06-30 2015-12-23 上海交通大学 Multi-freedom-degree low-frequency large-load all-metal passive vibration isolator

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Publication number Priority date Publication date Assignee Title
EP0418238B1 (en) * 1987-10-12 1993-12-29 Pusnes A/S Turret device
CN202244046U (en) * 2011-09-14 2012-05-30 山东省科学院海洋仪器仪表研究所 Device for keeping postures of underwater instrument
CN202381623U (en) * 2011-11-17 2012-08-15 华中科技大学 Precision active damper
CN102619916A (en) * 2012-04-20 2012-08-01 吉林大学 Ultralow frequency vibration isolator based on parallel connection of positive stiffness spring and negative stiffness spring
CN103791018A (en) * 2014-01-29 2014-05-14 安徽工程大学 Multi-dimensional vibration isolation platform and air springs thereof
CN105179587A (en) * 2015-06-30 2015-12-23 上海交通大学 Multi-freedom-degree low-frequency large-load all-metal passive vibration isolator

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106240756A (en) * 2016-08-26 2016-12-21 常熟中德重机有限公司 A kind of shock resistance type combination type buoy
CN110139996A (en) * 2017-01-12 2019-08-16 Hrl实验室有限责任公司 Adjustable negative rigidity mechanism
CN107804431A (en) * 2017-10-16 2018-03-16 西北工业大学 A kind of wind-force is anti-to topple over marine communication buoy
CN109305301A (en) * 2018-10-16 2019-02-05 广州榕创新能源科技有限公司 A kind of hydraulic engineering data acquisition buoyancy tank sealed fixing device
CN110513432A (en) * 2019-09-03 2019-11-29 武汉理工大学 A kind of double nonlinear isolation devices
CN110513432B (en) * 2019-09-03 2021-08-10 武汉理工大学 Double-nonlinear vibration isolation device
CN110989036A (en) * 2019-12-16 2020-04-10 国家海洋局北海海洋环境监测中心站 Marine meteorological observation equipment
CN111268034A (en) * 2020-02-12 2020-06-12 新昌县利安轴承有限公司 Buoy watertight part for ocean small-range spot check detection

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Application publication date: 20160615